Equivariant filter: a general filter design for systems on homogeneous spaces
组织者
演讲者
时间
2022年09月27日 15:30 至 16:00
地点
Online
线上
Tencent 735 7908 4302
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摘要
The kinematics of many mechanical systems encountered in robotics and other fields, such as single-bearing attitude estimation and SLAM, are naturally posed on homogeneous spaces: Their state lies in a smooth manifold equipped with a transitive Lie-group symmetry. In this talk, we introduce that the equivariant structure of the system is exploited to propose a novel new filter, the Equivariant Filter (EqF), based on linearisation of global error dynamics derived from the symmetry action.
演讲者介绍
焦小沛,本科毕业于上海交通大学致远学院,博士毕业于清华大学数学科学系。先后在北京雁栖湖应用数学研究院,荷兰特文特大学从事博士后工作。现研究方向包括有限维滤波理论,丘-丘滤波方法,物理信息神经网络以及生物信息学。研究兴趣主要集中于(1)利用李代数等几何工具进行偏微分方程求解与有限维滤波系统的分类;(2)设计基于物理信息神经网络的新型数值算法。